OpenRaiser/Intern-Atlas huggingface dataset:
Adaptive Dynamics Planning for Robot Navigation
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This discontinuity in dynamics often leads to trajectory tracking failure in highly constrained environments. Recent approaches integrate dynamics within the entire planning process by gradually decreasing its fidelity, e.g., increasing integration steps and reducing collision checking resolution, for real-time planning efficiency. However, they assume that the fidelity of the dynamics should decrease according to a manually designed scheme. Such static settings fail to adapt to environmental complexity variations, resulting in computational overhead in simple environments or insufficient dynamics consideration in obstacle-rich scenarios. To overcome this limitation, we propose Adaptive Dynamics Planning (ADP), a learning-augmented paradigm that uses reinforcement learning to dynamically adjust robot dynamics properties, enabling planners to adapt across diverse environments. We integrate ADP into three different planners and further design a standalone ADP-based navigation system, benchmarking them against other baselines. Experiments in both simulation and real-world tests show that ADP consistently improves navigation success, safety, and efficiency.
MT-DAO: Multi-Timescale Distributed Adaptive Optimizers with Local Updates
Venue: arXiv cs.LG 2025
Year: 2025

Training large models with distributed data parallelism (DDP) requires frequent communication of gradients across workers, which can saturate bandwidth. Infrequent communication strategies (e.g., Local SGD) reduce this overhead but, when applied to adaptive optimizers, often suffer a performance gap relative to fully synchronous DDP. We trace this gap to a time-scale mismatch: the optimizer's fast-moving momentum, tuned for frequent updates, decays too quickly to smooth gradients over long intervals, leading to noise-dominated optimization. To address this, we propose MT-DAO, a family of optimizers that employs multiple slow- and fast-moving first momenta or the gradient to track update dynamics across different time scales, for which we provide the first convergence guarantees. Empirically, for language-model pre-training, this eliminates the performance gap with DDP, outperforming infrequent-communication baselines in perplexity and reducing iso-token wall-clock time by 6-27% on Ethernet interconnects. At the 720M scale, MT-DAO reaches a target perplexity in 24% fewer steps and 35% less time than the single-momentum DDP baseline. MT-DAO enables effective cross-datacenter training and training over wide geographic areas.
LightCache: Memory-Efficient, Training-Free Acceleration for Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Training-free acceleration has emerged as an advanced research area in video generation based on diffusion models. The redundancy of latents in diffusion model inference provides a natural entry point for acceleration. In this paper, we decompose the inference process into the encoding, denoising, and decoding stages, and observe that cache-based acceleration methods often lead to substantial memory surges in the latter two stages. To address this problem, we analyze the characteristics of inference across different stages and propose stage-specific strategies for reducing memory consumption: 1) Asynchronous Cache Swapping. 2) Feature chunk. 3) Slicing latents to decode. At the same time, we ensure that the time overhead introduced by these three strategies remains lower than the acceleration gains themselves. Compared with the baseline, our approach achieves faster inference speed and lower memory usage, while maintaining quality degradation within an acceptable range. The Code is available at https://github.com/NKUShaw/LightCache .
KVLinC : KV Cache Quantization with Hadamard Rotation and Linear Correction
Venue: arXiv cs.LG 2025
Year: 2025

Quantizing the key-value (KV) cache is a promising strategy for improving the inference efficiency of large language models (LLMs). However, aggressive quantization to very low precision (e.g., 2 bits) introduces significant errors in the stored key and value tensors, which propagate through the dot-product attention mechanism and ultimately degrade generation quality. To address this, we propose KVLinC, a framework to mitigate attention errors introduced by KV cache quantization in the extreme low-precision regime. KVLinC combines a Hadamard rotation, which reduces quantization error in values, with lightweight linear correction adapters that explicitly compensate for errors introduced by quantized keys. Across extensive evaluations on the LLaMA, Qwen2.5, and Qwen3 model families, KVLinC consistently matches or surpasses strong baselines while achieving higher KV-cache compression. Furthermore, we implement a custom attention kernel that results in upto 2.55x faster inference compared to Flash Attention baseline, enabling efficient long-context LLM inference.
What Do You Mean? Exploring How Humans and AI Interact with Symbols and Meanings in Their Interactions
Venue: arXiv cs.AI 2025
Year: 2025

Meaningful human-AI collaboration requires more than processing language; it demands a deeper understanding of symbols and their socially constructed meanings. While humans naturally interpret symbols through social interaction, AI systems often miss the dynamic interpretations that emerge in conversation. Drawing on Symbolic Interactionism theory, we conducted two studies to investigate how humans and AI co-construct symbols and their meanings. Findings provide empirical insights into how humans and conversational AI agents collaboratively shape meanings during interaction. We show how participants shift their initial definitions of meaning in response to the symbols and interpretations suggested by the conversational AI agents, especially when social context is introduced. We also observe how participants project their personal and social values into these interactions, refining meanings over time. These findings reveal that shared understanding does not emerge from mere agreement but from the bi-directional exchange and reinterpretation of symbols, suggesting new paradigms for human-AI interaction design.
Context Length Alone Hurts LLM Performance Despite Perfect Retrieval
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) often fail to scale their performance on long-context tasks performance in line with the context lengths they support. This gap is commonly attributed to retrieval failures -- the models' inability to identify relevant information in the long inputs. Accordingly, recent efforts often focus on evaluating and improving LLMs' retrieval performance: if retrieval is perfect, a model should, in principle, perform just as well on a long input as it does on a short one -- or should it? This paper presents findings that the answer to this question may be negative. Our systematic experiments across 5 open- and closed-source LLMs on math, question answering, and coding tasks reveal that, even when models can perfectly retrieve all relevant information, their performance still degrades substantially (13.9%--85%) as input length increases but remains well within the models' claimed lengths. This failure occurs even when the irrelevant tokens are replaced with minimally distracting whitespace, and, more surprisingly, when they are all masked and the models are forced to attend only to the relevant tokens. A similar performance drop is observed when all relevant evidence is placed immediately before the question. Our findings reveal a previously-unrealized limitation: the sheer length of the input alone can hurt LLM performance, independent of retrieval quality and without any distraction. They motivate our simple, model-agnostic mitigation strategy that transforms a long-context task into a short-context one by prompting the model to recite the retrieved evidence before attempting to solve the problem. On RULER, we observe a consistent improvement of GPT-4o up to 4% on an already strong baseline.
See the past: Time-Reversed Scene Reconstruction from Thermal Traces Using Visual Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Recovering the past from present observations is an intriguing challenge with potential applications in forensics and scene analysis. Thermal imaging, operating in the infrared range, provides access to otherwise invisible information. Since humans are typically warmer (37 C -98.6 F) than their surroundings, interactions such as sitting, touching, or leaning leave residual heat traces. These fading imprints serve as passive temporal codes, allowing for the inference of recent events that exceed the capabilities of RGB cameras. This work proposes a time-reversed reconstruction framework that uses paired RGB and thermal images to recover scene states from a few seconds earlier. The proposed approach couples Visual-Language Models (VLMs) with a constrained diffusion process, where one VLM generates scene descriptions and another guides image reconstruction, ensuring semantic and structural consistency. The method is evaluated in three controlled scenarios, demonstrating the feasibility of reconstructing plausible past frames up to 120 seconds earlier, providing a first step toward time-reversed imaging from thermal traces.
Computing Envy-Free up to Any Good (EFX) Allocations via Local Search
Venue: arXiv cs.GT 2025
Year: 2025

We present a simple local search algorithm for computing EFX (envy-free up to any good) allocations of $m$ indivisible goods among $n$ agents with additive valuations. EFX is a compelling fairness notion, and whether such allocations always exist remains a major open question in fair division. Our algorithm employs simulated annealing with the total number of EFX violations as an objective function together with a single-transfer neighborhood structure to move through the space of allocations. It found an EFX allocation in all the instances tested, which included thousands of randomly generated inputs, and scaled to settings with hundreds of agents and/or thousands of items. The algorithm's simplicity, along with its strong empirical performance makes it a simple benchmark for evaluating future approaches. On the theoretical side, we provide a potential function for identical additive valuations, which ensures that any strict-descent procedure under the single-transfer neighborhood ends at an EFX allocation. This represents an alternative proof of existence for identical valuations.
Physics-Informed Machine Learning in Biomedical Science and Engineering
Venue: arXiv cs.LG 2025
Year: 2025

Physics-informed machine learning (PIML) is emerging as a potentially transformative paradigm for modeling complex biomedical systems by integrating parameterized physical laws with data-driven methods. Here, we review three main classes of PIML frameworks: physics-informed neural networks (PINNs), neural ordinary differential equations (NODEs), and neural operators (NOs), highlighting their growing role in biomedical science and engineering. We begin with PINNs, which embed governing equations into deep learning models and have been successfully applied to biosolid and biofluid mechanics, mechanobiology, and medical imaging among other areas. We then review NODEs, which offer continuous-time modeling, especially suited to dynamic physiological systems, pharmacokinetics, and cell signaling. Finally, we discuss deep NOs as powerful tools for learning mappings between function spaces, enabling efficient simulations across multiscale and spatially heterogeneous biological domains. Throughout, we emphasize applications where physical interpretability, data scarcity, or system complexity make conventional black-box learning insufficient. We conclude by identifying open challenges and future directions for advancing PIML in biomedical science and engineering, including issues of uncertainty quantification, generalization, and integration of PIML and large language models.
On Binary Codes That Are Maximal Totally Isotropic Subspaces with Respect to an Alternating Form
Venue: arXiv cs.IT 2025
Year: 2025

Self-dual binary linear codes have been extensively studied and classified for length n <= 40. However, little attention has been paid to linear codes that coincide with their orthogonal complement when the underlying inner product is not the dot product. In this paper, we introduce an alternating form defined on F_2^n and study codes that are maximal totally isotropic with repsect to this form. We classify such codes for n <= 24 and present a MacWilliams-type identity which relates the weight enumerator of a linear code and that of its orthogonal complement with respect to our alternating inner product. As an application, we derive constraints on the weight enumerators of maximal totally isotropic codes.
ATOM: A Pretrained Neural Operator for Multitask Molecular Dynamics
Venue: arXiv cs.LG 2025
Year: 2025

Molecular dynamics (MD) simulations underpin modern computational drug dis- covery, materials science, and biochemistry. Recent machine learning models provide high-fidelity MD predictions without the need to repeatedly solve quantum mechanical forces, enabling significant speedups over conventional pipelines. Yet many such methods typically enforce strict equivariance and rely on sequential rollouts, thus limiting their flexibility and simulation efficiency. They are also com- monly single-task, trained on individual molecules and fixed timeframes, which restricts generalization to unseen compounds and extended timesteps. To address these issues, we propose Atomistic Transformer Operator for Molecules (ATOM), a pretrained transformer neural operator for multitask molecular dynamics. ATOM adopts a quasi-equivariant design that requires no explicit molecular graph and employs a temporal attention mechanism, allowing for the accurate parallel decod- ing of multiple future states. To support operator pretraining across chemicals and timescales, we curate TG80, a large, diverse, and numerically stable MD dataset with over 2.5 million femtoseconds of trajectories across 80 compounds. ATOM achieves state-of-the-art performance on established single-task benchmarks, such as MD17, RMD17 and MD22. After multitask pretraining on TG80, ATOM shows exceptional zero-shot generalization to unseen molecules across varying time hori- zons. We believe ATOM represents a significant step toward accurate, efficient, and transferable molecular dynamics models
LANTERN: Scalable Distillation of Large Language Models for Job-Person Fit and Explanation
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have achieved strong performance across a wide range of natural language processing tasks. However, deploying LLMs at scale for domain specific applications, such as job-person fit and explanation in job seeking platforms, introduces distinct challenges. At LinkedIn, the job person fit task requires analyzing a candidate's public profile against job requirements to produce both a fit assessment and a detailed explanation. Directly applying open source or finetuned LLMs to this task often fails to yield high quality, actionable feedback due to the complexity of the domain and the need for structured outputs. Moreover, the large size of these models leads to high inference latency and limits scalability, making them unsuitable for online use. To address these challenges, we introduce LANTERN, a novel LLM knowledge distillation framework tailored specifically for job person fit tasks. LANTERN involves modeling over multiple objectives, an encoder model for classification purpose, and a decoder model for explanation purpose. To better distill the knowledge from a strong black box teacher model to multiple downstream models, LANTERN incorporates multi level knowledge distillation that integrates both data and logit level insights. In addition to introducing the knowledge distillation framework, we share our insights on post training techniques and prompt engineering, both of which are crucial for successfully adapting LLMs to domain specific downstream tasks. Extensive experimental results demonstrate that LANTERN significantly improves task specific metrics for both job person fit and explanation. Online evaluations further confirm its effectiveness, showing measurable gains in job seeker engagement, including a 0.24\% increase in apply rate and a 0.28\% increase in qualified applications.
Prototype-Based Dynamic Steering for Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Despite impressive breadth, LLMs still rely on explicit reasoning instructions or static, one-fits-all steering methods, leaving a gap for adaptive, instruction-free reasoning amplification. We present Prototype-Based Dynamic Steering (PDS), a test-time method that amplifies large language model (LLM) reasoning without adding or altering instructions. We introduce "reasoning prototypes" by clustering activation differences between Chain-of-Thought (CoT) and neutral prompts. At inference, an input's hidden state is projected onto these prototypes to form an instance-specific steering vector. Evaluated on GSM8K, AQuA-RAT, and BIG-Bench tasks, PDS consistently improves accuracy without fine-tuning or prompt engineering. Notably, the gains persist even when CoT is explicitly suppressed to improve cost-efficiency, indicating that the intervention strengthens latent reasoning processes rather than inducing a superficial behavioral shift. These results position dynamic, prototype-guided steering as a lightweight alternative to training-time approaches for enhancing LLM reasoning.
Correlation-Aware Dual-View Pose and Velocity Estimation for Dynamic Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel decentralized fusion approach to estimate both pose and velocity. We use dual-view measurements from an eye-in-hand and an eye-to-hand vision sensor configuration mounted on a manipulator to track a target object whose motion is modeled as random walk (stochastic acceleration model). The robot runs two independent adaptive extended Kalman filters formulated on a matrix Lie group, developed as part of this work. These filters predict poses and velocities on the manifold $\mathbb{SE}(3) \times \mathbb{R}^3 \times \mathbb{R}^3$ and update the state on the manifold $\mathbb{SE}(3)$. The final fused state comprising the fused pose and velocities of the target is obtained using a correlation-aware fusion rule on Lie groups. The proposed method is evaluated on a UFactory xArm 850 equipped with Intel RealSense cameras, tracking a moving target. Experimental results validate the effectiveness and robustness of the proposed decentralized dual-view estimation framework, showing consistent improvements over state-of-the-art methods.
Sci-Phi: A Large Language Model Spatial Audio Descriptor
Venue: arXiv cs.SD 2025
Year: 2025

Acoustic scene perception involves describing the type of sounds, their timing, their direction and distance, as well as their loudness and reverberation. While audio language models excel in sound recognition, single-channel input fundamentally limits spatial understanding. This work presents Sci-Phi, a spatial audio large language model with dual spatial and spectral encoders that estimates a complete parameter set for all sound sources and the surrounding environment. Learning from over 4,000 hours of synthetic first-order Ambisonics recordings including metadata, Sci-Phi enumerates and describes up to four directional sound sources in one pass, alongside non-directional background sounds and room characteristics. We evaluate the model with a permutation-invariant protocol and 15 metrics covering content, location, timing, loudness, and reverberation, and analyze its robustness across source counts, signal-to-noise ratios, reverberation levels, and challenging mixtures of acoustically, spatially, or temporally similar sources. Notably, Sci-Phi generalizes to real room impulse responses with only minor performance degradation. Overall, this work establishes the first audio LLM capable of full spatial-scene description, with strong potential for real-world deployment. Demo: https://sci-phi-audio.github.io/demo
Mission Impossible: Feedback-Guided Dynamic Interactive Planning for Improving Reasoning on LLMs
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in language agents have led to significant improvements in multi-hop reasoning tasks. However, existing approaches often struggle with handling open-domain problems, which require massive information retrieval due to their reliance on a fixed sequence of actions. To address this, we propose Feedback-Guided Dynamic Interactive Planning (FGDIP), a novel framework tailored to enhance reasoning in LLMs by utilizing dynamic and adaptive strategies for information exploration in open-domain multi-hop reasoning tasks. Our approach begins by identifying key entities relevant to the problem, which serve as the initial nodes in the reasoning process. From these initial nodes, we then generate reasoning child nodes with the process being refined through a combination of historical error analysis and real-time feedback, which allows the framework to dynamically adjust and optimize its reasoning strategies. By integrating depth-first search with an innovative node generation technique, our framework adapts based on both prior error paths and concurrently generated nodes at the same hierarchical level. This dynamic strategy effectively expands the search space while ensuring the reasoning process systematically converges toward accurate solutions. Experimental results show that FGDIP achieved up to 54.47% F1 score on the HotpotQA dataset and 70.05% on the StrategyQA dataset, surpassing the best baseline by 5.03% and 7.25% respectively, highlighting its versatility and potential to enhance language agents in multi-hop reasoning tasks.
(Token-Level) InfoRMIA: Stronger Membership Inference and Memorization Assessment for LLMs
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning models are known to leak sensitive information, as they inevitably memorize (parts of) their training data. More alarmingly, large language models (LLMs) are now trained on nearly all available data, which amplifies the magnitude of information leakage and raises serious privacy risks. Hence, it is more crucial than ever to quantify privacy risk before the release of LLMs. The standard method to quantify privacy is via membership inference attacks, where the state-of-the-art approach is the Robust Membership Inference Attack (RMIA). In this paper, we present InfoRMIA, a principled information-theoretic formulation of membership inference. Our method consistently outperforms RMIA across benchmarks while also offering improved computational efficiency. In the second part of the paper, we identify the limitations of treating sequence-level membership inference as the gold standard for measuring leakage. We propose a new perspective for studying membership and memorization in LLMs: token-level signals and analyses. We show that a simple token-based InfoRMIA can pinpoint which tokens are memorized within generated outputs, thereby localizing leakage from the sequence level down to individual tokens, while achieving stronger sequence-level inference power on LLMs. This new scope rethinks privacy in LLMs and can lead to more targeted mitigation, such as exact unlearning.